Articulated tool positioner and system employing same

Patent metadata

Field	Value
Publication number	US-2019150904-A1
Application number	US-201816185788-A
Country	US
Kind code	A1
Filing date	Nov 9, 2018
Priority date	Jun 19, 2013
Publication date	May 23, 2019
Grant date	—

Abstract

An articulated tool positioning apparatus comprising a base member, an intermediate member, an end member and a first tool holder arranged in succession, each of the base member, intermediate member, end member and tool holder having a respective central opening. A first plurality of coupled guides id positioned between the base member and the intermediate member and a second plurality of coupled guides is positioned between the intermediate member and the end member. A third plurality of coupled guides is diposed between the end member and the tool holder. The base member, intermediate member, end member, first tool holder and first second and third pluralities of coupled guides all have a central opening and guide openings or securing points for securing pluralities of flexible control links to the base member or to an object separated from the base member. Pushing or pulling control links of a first plurality of control links causes the base member, the first plurality of coupled guides, the intermediate member, the second plurality of coupled guides and the end member to selectively define a continuous curve. A second plurality of control links causes the end member to maintain an orientation generally the same as the base member, when any of the other flexible control links is pushed or pulled. Pushing or pulling control links of a third plurality of control links causes the tool holder to be selectively moved into any of a plurality of orientations, such that the third plurality of coupled guides between the end member and the tool holder defines a continuous curve from the end member to the tool holder. At least one mechanism for pushing and pulling the flexible control links is described and a use of the apparatus for positioning a tool for laparoscopic surgery applications is described.

First claim

1 - 27 . (canceled)

28 . A surgical tool apparatus comprising;
an end effector; a control link including a distal end coupled to the end effector; a conduit including a distal end coupled to the end effector; a tool positioner including a central opening; and wherein the control link extends through the conduit and is configured to actuate at least a first movement of the end effector, the conduit further configured to be received in the central opening of the tool positioner and configured to actuate a second movement of the end effector, the tool positioner configured to move to position the end effector during a surgical operation.

29 . The apparatus of claim 28 wherein the end effector comprises a base and wherein:
the control link extends axially through the base and couples to a moveable portion of the end effector associated with the first movement; and
the conduit is coupled to the base, the second movement of the end effector being actuated by rotation of the conduit within the central opening of the tool positioner.

30 . The apparatus of claim 29 wherein the base further comprises a coupler configured to be received within a tool holder disposed at a distal end of the tool positioner.

31 . The apparatus of claim 30 wherein the coupler includes a first fastening portion and the tool holder includes a second fastening portion configured to receive the first fastening portion of the coupler to allow a portion of the apparatus to be received in the tool holder while permitting the end effector to remain outside the tool holder.

32 . The apparatus of claim 31 wherein when the second fastening portion is received in the first fastening portion, the end effector is configured to rotate in the tool holder.

33 . The apparatus of claim 31 wherein the first and second fastening portions are sized to prevent the end effector from retreating inside the tool holder.

34 . The apparatus of claim 28 wherein the control link is configured to move in a longitudinal direction with respect to the conduit and the conduit is configured to rotate within the central opening of the tool positioner and cause rotational movement of the end effector.

35 . The apparatus of claim 28 wherein when received in the central opening of the tool positioner, the conduit extends through the central opening and includes a proximal end extending beyond the central opening, the proximal end being coupled to a rotational coupler in a tool controller to cause the rotation of the conduit.

36 . The apparatus of claim 28 wherein the conduit comprises a flexible portion and a rigid portion and wherein the flexible portion facilitates transverse bending movements of the conduit in response to movement of the tool positioner.

37 . The apparatus of claim 36 wherein the control link comprises a flexible portion extending through at least the flexible portion of the conduit, and wherein the flexible portion of the control link is configured to transmit both compressive and tensional forces.

38 . The apparatus of claim 36 wherein the flexible portions of the conduit and the control link are disposed at the respective distal ends of the conduit and the control link.

39 . The apparatus of claim 28 wherein the end effector comprises a pair of opposing jaws, one of which is movable about a pivot to provide the first movement in response to longitudinal movement of the control link within the conduit.

40 . The apparatus of claim 28 wherein the tool positioner comprises a plurality of coupled guides each including a central opening that provides the central opening of the tool positioner, the plurality of coupled guides being actuated to move by a plurality of flexible control links disposed extending through respective openings in the coupled guides, the plurality of flexible control links comprising corresponding control links disposed on either side of the central opening, and wherein pushing on one control link while pulling on a corresponding control link of said first plurality of control links causes the plurality of coupled guides to bend toward the pulled control link.

41 . The apparatus of claim 40 wherein the conduit includes a diameter selected to permit free movement of the control link within the conduit.

42 . The apparatus of claim 28 wherein the control link and the conduit are each independently moveable such that the first movement and the second movement comprise independent movements.

43 . The apparatus of claim 28 wherein the end effector comprises a pair of opposing jaws, at least one of which is movable about a pivot to provide the first movement in response to longitudinal movement of the control link within the conduit.

44 . An articulated tool positioning apparatus, the apparatus comprising:
an end segment and a tool holder, each including a respective central opening, the end segment including a plurality of guide openings arranged about the central opening and extending through the end segment; a plurality of coupled guides between the end segment and the tool holder, the coupled guides each including a central opening and guide openings generally aligned with the guide openings in the end segment; and a plurality of flexible control links each including first and second ends, the plurality of flexible control links extending through respective openings of the guide openings in the end segment, and through respective openings of corresponding guide openings in the plurality of coupled guides, the respective first ends being connected to the tool holder, wherein said plurality of flexible control links comprise corresponding control links disposed on either side of said central opening, and wherein pushing on the second end of one control link while pulling on a second end of a corresponding control link of said plurality of control links causes the plurality of coupled guides and the tool holder to curve toward the pulled control link.

45 . The apparatus of claim 44 further comprising:
a base segment and an intermediate segment, each including a respective central opening, the base segment including first guide openings arranged about the central opening and extending through the base segment;
a first plurality of coupled guides between the base segment and the intermediate segment, the coupled guides each including a central opening and guide openings generally aligned with the first guide openings;
a second plurality of coupled guides between the intermediate segment and the end segment, the intermediate segment including second guide openings arranged about the central opening and extending through the intermediate segment, the coupled guides each including a central opening and a plurality of guide openings generally aligned with the second guide openings;
a first plurality of flexible control links disposed extending through respective openings of the first guide openings in said base segment and through respective openings of corresponding guide openings in the first plurality of coupled guides, each of said first plurality of flexible control links including first and second ends, the respective first ends being connected to the intermediate segment; and
a second plurality of flexible control links each including first and second ends, the second plurality of flexible control links extending through respective openings of the first guide openings in the base segment, through respective openings of corresponding guide openings in the first plurality of coupled guides, through corresponding second guide openings

Assignees

• Titan Med Inc

Inventors

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

Classifications

• A61B1/0055

  Constructional details of insertion parts, e.g. vertebral elements · CPC title

• A61M25/0147

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

• A61B2017/00314

  Separate linked members · CPC title

• A61B2017/00323

  Cables or rods · CPC title

• A61B2017/2906

  Multiple forceps · CPC title