Articulated tool positioner and system employing same

Patent metadata

Field	Value
Publication number	US-12433576-B2
Application number	US-202217842889-A
Country	US
Kind code	B2
Filing date	Jun 17, 2022
Priority date	Jun 19, 2013
Publication date	Oct 7, 2025
Grant date	Oct 7, 2025

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. A surgical tool apparatus comprising:
a tool positioner capable of being articulated, the tool positioner having a central opening extending along a length of the tool positioner, wherein the tool positioner includes:
a tool holder disposed at a distal end of the tool positioner, and wherein the tool holder defines a bore which is axially aligned with the central opening of the tool positioner; and
a plurality of coupled guides extending proximally from the tool holder, each guide of the plurality of coupled guides includes:
at least one pair of axially extending projections;
at least one pair of axially extending receptacles, wherein each axially extending projection of the at least one pair of axially extending projections is slidably disposed within a corresponding axially extending receptacle of the at least one pair of axially extending receptacles, wherein as one projection of the at least one pair of axially extending projections slides at least partially out of a corresponding receptacle of the at least one pair of axially extending receptacles another projection of the at least one pair of axially extending projections slides at least partially into another corresponding receptacle of the at least one pair of axially extending receptacles;
a spherical projection extending from one of a distal facing surface or a proximal facing surface of each guide, wherein the at least one pair of axially extending projections are disposed on opposed lateral sides of the spherical projection; and
a socket formed in another one of the distal facing surface or the proximal facing surface of the guide, wherein the socket of one of the plurality of coupled guides is configured to receive the spherical projection of an adjacent one of the plurality of coupled guides therein; and

an end effector coupled to a distal end of the tool holder of the tool positioner.

2. The surgical tool apparatus of claim 1 , wherein, during an articulation of the surgical tool apparatus, the at least one pair of axially extending projections of one of the plurality of coupled guides slides at least partially into or at least partially out of the at least one pair of axially extending receptacles of an immediately adjacent one of the plurality of coupled guides for relative axial translation therebetween.

3. The surgical tool apparatus of claim 1 , wherein the at least one pair of axially extending projections are in diametrically opposed relation to one another; and wherein the at least one pair of axially extending receptacles are in diametrically opposed relation to one another, wherein the at least one of the axially extending projections is substantially rectangular.

4. The surgical tool apparatus of claim 1 , wherein the plurality of coupled guides includes at least a first guide, a second guide and a third guide; wherein:
the first guide includes a pair of diametrically opposed axially extending projections and a pair of diametrically opposed axially extending receptacles;
the second guide includes a pair of diametrically opposed axially extending projections and a pair of diametrically opposed axially extending receptacles; and
the third guide includes a pair of diametrically opposed axially extending projections and a pair of diametrically opposed axially extending receptacles;
wherein the pair of diametrically opposed axially extending projections of the second guide extend into the pair of diametrically opposed axially extending receptacles of the first guide; and
wherein the pair of diametrically opposed axially extending projections of the third guide extend into the pair of diametrically opposed axially extending receptacles of the second guide.

5. The surgical tool apparatus of claim 4 , wherein the axially extending projections and the axially extending receptacles are arranged in a radial array around their respective guide.

6. The surgical tool apparatus of claim 1 , wherein the at least one pair of axially extending receptacles of one of the plurality of coupled guides is configured to at least partially receive the at least one pair of axially extending projections therein.

7. The surgical tool apparatus of claim 1 , wherein at least a portion of at least one of the distal facing surface or proximal facing surface is oriented at an acute angle with respect to a plane oriented orthogonal to a central axis of the respective guide.

8. The surgical tool apparatus of claim 1 , further comprising:
a conduit received within the central opening of the tool positioner, wherein the conduit includes a distal end coupled to the end effector.

9. The surgical tool apparatus of claim 8 , wherein the conduit is operable to actuate a movement of the end effector.

10. The surgical tool apparatus of claim 8 , further comprising:
a coupler connected to the tool positioner, the coupler including first and second axially spaced apart cylinders sized to receive and be held in the bore of the tool holder.

11. The surgical tool apparatus of claim 10 , further comprising:
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 of the control link 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.

12. The surgical tool apparatus of claim 11 , wherein the control link is a first control link operable to actuate at least a first movement of the end effector, and wherein the surgical tool apparatus further comprises:
at least one second control link operable to actuate at least a second movement of the end effector.

13. The surgical tool apparatus of claim 12 , wherein the second movement includes articulation of the end effector and of the tool positioner.

Assignees

• Titan Med Inc
• Covidien Lp

Inventors

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

Classifications

• A61M25/0147

  with movable mechanical means, e.g. pull wires · CPC title

• A61B2034/301

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

• A61B2017/2905

  flexible · CPC title

• A61B2017/2903

  transferring rotary motion · CPC title

• A61B2034/306

  Wrists with multiple vertebrae · CPC title