U.S. patent application number 16/440397 was filed with the patent office on 2020-04-30 for surgical tool positioning system.
This patent application is currently assigned to Medrobotics Corporation. The applicant listed for this patent is Michael Salvatore DeGeorge Castro. Invention is credited to Michael Salvatore Castro, Chistopher P. DeGeorge, J. Christopher Flaherty, R. Maxwell Flaherty, Arnold Oyola, Joseph A. Stand, III, Samuel F. Straface.
Application Number | 20200129205 16/440397 |
Document ID | / |
Family ID | 50068600 |
Filed Date | 2020-04-30 |
United States Patent
Application |
20200129205 |
Kind Code |
A1 |
Castro; Michael Salvatore ;
et al. |
April 30, 2020 |
SURGICAL TOOL POSITIONING SYSTEM
Abstract
Described is a tool positioning system comprising an
introduction device, a first tool support and a second tool
support. The introduction device is constructed and arranged to
slidingly receive an articulating probe. The first tool support
comprises at least one guide element constructed and arranged to
slidingly receive a first tool. The first tool support is oriented
toward a first operator location. The second tool support comprises
at least one guide element constructed and arranged to slidingly
receive a second tool. The second tool support is oriented toward a
second operator location.
Inventors: |
Castro; Michael Salvatore;
(Plymouth, MA) ; DeGeorge; Chistopher P.;
(Franklin, MA) ; Flaherty; J. Christopher;
(Auburndale, FL) ; Flaherty; R. Maxwell;
(Auburndale, FL) ; Oyola; Arnold; (Northborough,
MA) ; Stand, III; Joseph A.; (Holden, MA) ;
Straface; Samuel F.; (Duxbury, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Castro; Michael Salvatore
DeGeorge; Chistopher P.
Flaherty; J. Christopher
Flaherty; R. Maxwell
Oyola; Arnold
Stand, III; Joseph A.
Straface; Samuel F. |
Plymouth
Franklin
Auburndale
Auburndale
Northborough
Holden
Duxbury |
MA
MA
FL
FL
MA
MA
MA |
US
US
US
US
US
US
US |
|
|
Assignee: |
Medrobotics Corporation
Raynham
MA
|
Family ID: |
50068600 |
Appl. No.: |
16/440397 |
Filed: |
June 13, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15619875 |
Jun 12, 2017 |
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16440397 |
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14418993 |
Feb 2, 2015 |
9675380 |
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PCT/US13/54326 |
Aug 9, 2013 |
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15619875 |
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61681340 |
Aug 9, 2012 |
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61751498 |
Jan 11, 2013 |
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61825297 |
May 20, 2013 |
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61818878 |
May 2, 2013 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 90/50 20160201;
A61B 2017/3407 20130101; A61B 2017/2906 20130101; A61B 17/3423
20130101; A61B 17/3403 20130101; A61B 90/11 20160201 |
International
Class: |
A61B 17/34 20060101
A61B017/34; A61B 90/50 20060101 A61B090/50 |
Claims
1. A tool positioning system, comprising: an introduction device
constructed and arranged to slidingly receive an articulating
probe; a first tool support comprising at least one guide element
constructed and arranged to slidingly receive a first tool, wherein
the first tool support is oriented toward a first operator
location; and a second tool support comprising at least one guide
element constructed and arranged to slidingly receive a second
tool, wherein the second tool support is oriented toward a second
operator location.
Description
RELATED APPLICATIONS
[0001] This application is a continuation application of U.S.
patent application Ser. No. 15/619,875 filed Jun. 12, 2017, which
is a continuation application of U.S. patent application Ser. No.
14/418,993, filed on Feb. 2, 2015, which claims the benefit of
United States PCT application serial number PCT/US2013/054326,
filed on Aug. 9, 2013 which claims the benefit of U.S. Provisional
Application No. 61/681,340, filed Aug. 9, 2012, the content of
which is incorporated herein by reference in its entirety.
[0002] This application claims the benefit of U.S. Provisional
Application No. 61/751,498, filed Jan. 11, 2013, the content of
which is incorporated herein by reference in its entirety.
[0003] This application claims the benefit of U.S. Provisional
Application No. 61/825,297, filed May 20, 2013, the content of
which is incorporated herein by reference in its entirety.
[0004] This application claims the benefit of U.S. Provisional
Application No. 61/818,878, filed May 2, 2013, the content of which
is incorporated herein by reference in its entirety.
[0005] This application is related to PCT Application No.
PCT/US2012/040414, filed Jun. 1, 2012, the content of which is
incorporated herein by reference in its entirety.
[0006] This application is related to U.S. Provisional Application
No. 61/492,578, filed Jun. 2, 2011, the content of which is
incorporated herein by reference in its entirety.
[0007] This application is related to PCT Application No
PCT/US2012/032279, filed Apr. 5, 2012, the content of which is
incorporated herein by reference in its entirety.
[0008] This application is related to U.S. Provisional Application
No. 61/472,344, filed Apr. 6, 2011, the content of which is
incorporated herein by reference in its entirety.
[0009] This application is related to PCT Application No
PCT/US2011/060214, filed Nov. 10, 2011, the content of which is
incorporated herein by reference in its entirety.
[0010] This application is related to U.S. Provisional Application
No. 61/412,733, filed Nov. 11, 2010, the content of which is
incorporated herein by reference in its entirety.
[0011] This application is related to PCT Application No
PCT/US2012/054802, filed Sep. 12, 2012, the content of which is
incorporated herein by reference in its entirety.
[0012] This application is related to U.S. Provisional Application
No. 61/534,032, filed Sep. 13, 2011, the content of which is
incorporated herein by reference in its entirety.
[0013] This application is related to U.S. Provisional Application
No. 61/406,032, filed Oct. 22, 2010, the content of which is
incorporated herein by reference in its entirety.
[0014] This application is related to PCT Application No
PCT/US2011/057282, filed Oct. 21, 2011, the content of which is
incorporated herein by reference in its entirety.
[0015] This application is related to U.S. Provisional Application
No. 61/368,257, filed Jul. 28, 2010, the content of which is
incorporated herein by reference in its entirety.
[0016] This application is related to PCT Application No
PCT/US2011/044811, filed Jul. 21, 2011, the content of which is
incorporated herein by reference in its entirety.
[0017] This application is related to PCT Application No
PCT/US2012/070924, filed Dec. 20, 2012, the content of which is
incorporated herein by reference in its entirety.
[0018] This application is related to U.S. Provisional Application
No. 61/578,582, filed Dec. 21, 2011, the content of which is
incorporated herein by reference in its entirety.
[0019] This application is related to PCT Application No
PCT/US2013/043858, filed Jun. 3, 2013, the content of which is
incorporated herein by reference in its entirety.
[0020] This application is related to U.S. patent application Ser.
No. 11/630,279, filed Dec. 20, 2006, published as U.S. Patent
Application Publication No. 2009/0171151, the content of which is
incorporated herein by reference in its entirety.
TECHNICAL FIELD
[0021] The present inventive concepts generally relate to the field
of robotics, and more particularly, to multi-operator robotic
systems for medical applications.
BACKGROUND
[0022] As less invasive medical techniques and procedures become
more widespread, medical professionals, such as surgeons or other
clinicians, may require articulating surgical tools to perform such
less invasive medical techniques and procedures from outside the
human body. Conventional articulating surgical tools such as
endoscopes and the like can be operated by a surgeon or other
clinician at a single operator location.
SUMMARY
[0023] In one aspect, a tool positioning system comprises an
introduction device constructed and arranged to slidingly receive
an articulating probe; a first tool support comprising at least one
guide element constructed and arranged to slidingly receive a first
tool, wherein the first tool support is oriented toward a first
operator location; and a second tool support comprising at least
one guide element constructed and arranged to slidingly receive a
second tool, wherein the second tool support is oriented toward a
second operator location.
[0024] In some embodiments, at least one of the first tool or the
second tool is positioned at a patient to perform a medical
procedure on the patient.
[0025] In some embodiments, the medical procedure comprises a
transoral surgery procedure.
[0026] In some embodiments, the transoral surgery procedure
includes a resection at or near at least one of a base of a tongue,
tonsils, a base of a skull, a hypopharynx, a larynx, a trachea, an
esophagus, a stomach, or a small intestine.
[0027] In some embodiments, the medical procedure includes at least
one of a single or multiport transaxilla, thoracoscopic,
pericardial, laparoscopic, transgastric, transenteric, transanal,
or transvaginal procedure.
[0028] In some embodiments, the single or multiport transaxilla
procedure includes a laryngectomy.
[0029] In some embodiments, the single or multiport thoracoscopic
procedure includes a mediastinal nodal dissection.
[0030] In some embodiments, the single or multiport pericardial
procedure includes measuring and treating arrhythmias.
[0031] In some embodiments, the single or multiport single or
multiport laparoscopic procedure includes a revision of bariatric
lap-band procedures.
[0032] In some embodiments, the single or multiport transgastric or
transenteric procedure includes at least one of a cholecystectomy
or a splenectomy.
[0033] In some embodiments, the single or multiport transanal or
transvaginal procedure includes at least one of a hysterectomy,
oophorectomy, cystectomy or colectomy.
[0034] In some embodiments, the first tool support is coupled to
the second tool support.
[0035] In some embodiments, the first tool support and the second
tool support are coupled to each other at a common element.
[0036] In some embodiments, a connection at the common element
maintains a fixed distance between the first tool support and the
second tool support.
[0037] In some embodiments, a connection at the common element
maintains a fixed orientation between the first tool support and
the second tool support.
[0038] In some embodiments, the at least one of the first and
second tool supports moves linearly relative to the common
element.
[0039] In some embodiments, the first tool support and second tool
support are fixed in position relative to each other.
[0040] In some embodiments, positions of the first and second tool
supports are maintained during an operation of the tool positioning
system.
[0041] In some embodiments, the first tool support and second tool
support are fixed in orientation relative to each other.
[0042] In some embodiments, orientations of the first and second
tool supports are maintained during an operation of the tool
positioning system.
[0043] In some embodiments, at least one of the first tool support
or second tool support is rotatable relative to the other.
[0044] In some embodiments, at least one of the first tool support
or the second tool support is rotatable relative to the other at a
common element to which each of the first and second tool supports
is coupled.
[0045] In some embodiments, at least one of the first and second
tool supports is locked in a fixed position relative to the common
element.
[0046] In some embodiments, the system further comprises a locking
mechanism that locks the at least one of the first and second tool
supports in the fixed position.
[0047] In some embodiments, at least one of the first tool support
and the second tool support is directly anchored to the
introduction device.
[0048] In some embodiments, at least one of the first tool support
and second tool support is bonded to the introduction device.
[0049] In some embodiments, at least one of the first tool support
and second tool support is welded to the introduction device.
[0050] In some embodiments, the system further comprises a base,
wherein the first tool support and the second tool support are
coupled to the base.
[0051] In some embodiments, the introduction device is coupled to
the base.
[0052] In some embodiments, the base comprises a collar that
surrounds at least a portion of the introduction device.
[0053] In some embodiments, the collar extends in a lateral
direction relative to a direction of extension of the introduction
device.
[0054] In some embodiments, the collar has first and second
openings aligned with the first and second tool supports.
[0055] In some embodiments, the collar has first and second
openings, wherein the first and second tool supports extend through
the first and second openings.
[0056] In some embodiments, at least one of the first tool support
or the second tool support comprises at least one guide element
that rotatably engages the base.
[0057] In some embodiments, the at least one of the first tool
support and the second tool support comprises a gimbal which
rotatably engages the at least one guide element at the base.
[0058] In some embodiments, the least one guide element of the
first tool support comprises a mid-portion that rotatably engages
the base.
[0059] In some embodiments, the first tool support rotatably
engages the base and the second tool support rotatably engages the
base.
[0060] In some embodiments, the at least one guide element of the
first tool support is fixedly attached to the base.
[0061] In some embodiments, the at least one guide element of the
first tool support comprises a mid-portion that rotatably engages
the base.
[0062] In some embodiments, the at least one of the first or second
tool supports moves linearly relative to the base.
[0063] In some embodiments, the system is constructed and arranged
to slidingly receive two tools.
[0064] In some embodiments, the system is constructed and arranged
to slidingly receive three tools.
[0065] In some embodiments, the system is constructed and arranged
to slidingly receive four tools.
[0066] In some embodiments, the system is constructed and arranged
to slidingly receive five or more tools.
[0067] In some embodiments, the at least one guide element of the
first tool support is constructed and arranged to receive a shaft
of the first tool, and wherein the at least one guide element of
the second tool support is constructed and arranged to receive a
shaft of the second tool.
[0068] In some embodiments, the first tool is positioned at a first
side of a distal end of the articulating probe and the second tool
is positioned at a second side of the distal end of the
articulating probe relatively opposite the first side.
[0069] In some embodiments, the first tool is controlled by an
operator at the first operator location at the first side of the
distal end of the articulating probe, and the second tool is
controlled by an operator at the second operator location at the
second side of the distal end of the articulating probe.
[0070] In some embodiments, the first tool and a third tool are
positioned at a first side of a distal end of the articulating
probe and the second tool and a fourth tool are positioned at a
second side of the distal end of the articulating probe relatively
opposite the first side.
[0071] In some embodiments, the first and third tools are
controlled by an operator at the first operator location at the
first side of the distal end of the articulating probe, and the
second and fourth tools are controlled by an operator at the second
operator location at the second side of the distal end of the
articulating probe.
[0072] In some embodiments, at least one of the first tool support
or the second tool support comprises a funnel shaped proximal
end.
[0073] In some embodiments, at least one guide element of at least
one of the first tool support or the second tool support comprises
an inner guide element and an outer guide element.
[0074] In some embodiments, the outer guide element comprises a
first tube and the inner guide element comprises a second tube
slidingly positioned in the first tube.
[0075] In some embodiments, the inner guide element movably extends
from the outer guide element.
[0076] In some embodiments, at least a portion of the inner guide
element is flexible.
[0077] In some embodiments, the system further comprises a third
tool support, the third tool support comprising at least one guide
element constructed and arranged to slidingly receive a third
tool.
[0078] In some embodiments, the third tool support is oriented
toward the first operator location.
[0079] In some embodiments, the system further comprises a
connector coupled to the first tool support and the third tool
support, wherein the connector is constructed and arranged to
maintain a relative position between the first tool support and the
third tool support.
[0080] In some embodiments, the system further comprises a fourth
tool support, the fourth tool support comprising at least one guide
element constructed and arranged to slidingly receive a fourth
tool.
[0081] In some embodiments, the fourth tool support is oriented
toward the second operator location.
[0082] In some embodiments, the system further comprises a
connector coupled to the second tool support and the fourth tool
support, wherein the connector is constructed and arranged to
maintain a relative position between the second tool support and
the fourth tool support.
[0083] In some embodiments, the system further comprises a
connector coupled to a proximal end of each of the first and third
tool supports, and a connector attached to a proximal end of each
of the second and fourth tool supports.
[0084] In some embodiments, the system further comprises a
connector coupled to the first tool support and the second tool
support, wherein the connector is constructed and arranged to
maintain a relative position between the first tool support and
second tool support.
[0085] In some embodiments, the connector is rotatably coupled to
the first tool support.
[0086] In some embodiments, the connector is rotatably coupled to
the first tool support and the second tool support.
[0087] In some embodiments, the connector is attached to a proximal
end of the first and second tool supports.
[0088] In some embodiments, the connector extends in a direction
that is transverse the directions of extension of proximal ends of
the first and second tool supports.
[0089] In some embodiments, the system further comprises a fixation
point on the connector constructed and arranged to attach to a
stabilizing brace.
[0090] In some embodiments, the system further comprises a third
tool support and a connector coupled to the first, second and third
tool supports, wherein the connector is constructed and arranged to
maintain a relative position between the first, second, and third
tool supports.
[0091] In some embodiments, the at least one guide element of the
first tool support or the second tool support comprises a hollow
elongate member.
[0092] In some embodiments, the hollow elongate member comprises a
structure selected from the group consisting of: a hollow tube, a
coil such as a helical coil, a plastic tube such as a braided
plastic tube, and combinations thereof.
[0093] In some embodiments, at least a portion of the hollow
elongate member is rigid.
[0094] In some embodiments, at least a portion of the hollow
elongate member is flexible.
[0095] In some embodiments the first operator location and the
second operator location comprise side-by-side locations.
[0096] In some embodiments, the first tool support is constructed
and arranged to provide tool access to a patient's head.
[0097] In some embodiments, the first tool support is constructed
and arranged to provide tool access to a patient's esophagus.
[0098] In some embodiments, the first operator location and the
second operator location comprise face-to-face locations.
[0099] In some embodiments, the first tool support is constructed
and arranged to provide tool access to at least one of a patient
chest or a patient abdomen.
[0100] In some embodiments, the system further comprises a fixation
point constructed and arranged to attach to a stabilizing
brace.
[0101] In some embodiments, the first tool support comprises the
fixation point.
[0102] In some embodiments, the system further comprises a
connector coupled to the first tool support and the second tool
support.
[0103] In some embodiments, the connector is constructed and
arranged to maintain a relative position between the first tool
support and second tool support, wherein the connector comprises
the fixation point.
[0104] In some embodiments, the introduction device comprises the
fixation point.
[0105] In some embodiments, the system further comprises a base
coupling the first tool support and the second tool support,
wherein the base comprises the fixation point.
[0106] In some embodiments, the system further comprises a brace
attachable to the fixation point.
[0107] In some embodiments, the brace is further attachable to a
location selected from the group consisting of: a floor, a patient
operating table, an articulating probe feeder, and combinations
thereof.
[0108] In some embodiments, the system further comprises a second
fixation point constructed and arranged to attach to a stabilizing
brace.
[0109] In some embodiments, the system further comprises a first
brace for attachment to the first fixation point and a second brace
for attachment to the second fixation point.
[0110] In some embodiments, the system further comprises the
articulating probe.
[0111] In some embodiments, the articulating probe comprises a
distal link.
[0112] In some embodiments, the distal link comprises at least a
first sideport coupled to the first tool support and a second
sideport coupled to the second tool support.
[0113] In some embodiments, the system further comprises a third
tool support, wherein the distal link comprises at least a first
sideport coupled to the first tool support, a second sideport
coupled to the second tool support and a third sideport coupled to
the third tool support.
[0114] In some embodiments, the first, second and third sideports
are symmetrically spaced about a periphery of the distal link.
[0115] In some embodiments, the first, second and third sideports
are asymmetrically spaced about a periphery of the distal link.
[0116] In some embodiments, the first and second sideports are
positioned 30.degree. to 180.degree. apart about a periphery of the
distal link.
[0117] In some embodiments, the system further comprises a fourth
tool support wherein the distal link further comprises a fourth
sideport coupled to the fourth tool support.
[0118] In some embodiments, the system further comprises a fifth
tool support wherein the distal link further comprise a fifth
sideport coupled to the fifth tool support.
[0119] In some embodiments, the system further comprises a
controller constructed and arranged to manipulate the articulating
probe.
[0120] In some embodiments, the system further comprises a first
human interface device oriented toward the first operator location,
the first human interface generating a first control signal
received by the controller for manipulating the articulating
probe.
[0121] In some embodiments, the system further comprises a tool
wherein the tool comprises the first human interface device.
[0122] In some embodiments, the system further comprises a second
human interface device oriented toward the second operator location
and constructed and arranged to generate a second control signal
received by the controller for manipulating the articulating
probe.
[0123] In some embodiments, the system further comprises a tool
wherein the tool comprises the second human interface device.
[0124] In some embodiments, the system further comprises a
connector coupled to the first tool support and the second tool
support, wherein the connector is constructed and arranged to
maintain a relative position between the first tool support and
second tool support, wherein the first human interface device is
positioned on the connector.
[0125] In some embodiments, the human interface device on the
connector communicates with the controller via a wireless
connection.
[0126] In some embodiments, the system further comprises at least
one tool constructed and arranged to be slidingly received by at
least one of the first tool support or the second tool support.
[0127] In some embodiments, the at least one tool comprises at
least two tools, wherein each tool comprises a shaft constructed
and arranged to be slidingly received by at least one of the first
tool support or the second tool support.
[0128] In some embodiments, the at least one tool comprises a tool
selected from the group consisting of: a suction device, a
ventilator, a light, a camera, a grasper, a laser, a cautery, a
clip applier, a scissors, a needle, a needle driver, a scalpel, an
RF energy delivery device, a cryogenic energy delivery device, and
combinations thereof.
[0129] In another aspect, a tool positioning system comprises a
first tool support comprising at least one guide element
constructed and arranged to slidingly receive a first tool, wherein
the first tool support is oriented toward a first operator
location; a second tool support comprising at least one guide
element constructed and arranged to slidingly receive a second
tool, wherein the second tool support is oriented toward a second
operator location; and a base that couples the first tool support
and the second tool support.
[0130] In some embodiments, the system further comprises an
introduction device coupled to the base.
[0131] In some embodiments, the base comprises a collar that
surrounds at least a portion of the introduction device.
[0132] In some embodiments, the collar extends in a lateral
direction relative to a direction of extension of the introduction
device.
[0133] In some embodiments, the collar has first and second
openings aligned with the first and second tool supports.
[0134] In some embodiments, the collar has first and second
openings, wherein the first and second tool supports extend through
the first and second openings.
[0135] In some embodiments, at least one of the first tool support
or the second tool support comprises at least one guide element
that rotatably engages the base.
[0136] In some embodiments, the at least one of the first tool
support and the second tool support comprises a gimbal which
rotatably engages the at least one guide element at the base.
[0137] In some embodiments, the least one guide element of the
first tool support comprises a mid-portion that rotatably engages
the base.
[0138] In some embodiments, the first tool support rotatably
engages the base and the second tool support rotatably engages the
base.
[0139] In some embodiments, the at least one guide element of the
first tool support is fixedly attached to the base.
[0140] In some embodiments, the at least one guide element of the
first tool support comprises a mid-portion that rotatably engages
the base.
[0141] In another aspect, a tool positioning system comprises a
first tool support comprising at least one first guide element
constructed and arranged to slidingly receive a first tool; a
second tool support comprising at least one second guide element
constructed and arranged to slidingly receive a second tool; and a
first connector attached to the first tool support and the second
tool support, wherein the connector is constructed and arranged to
maintain a distance between the first tool support and second tool
support.
[0142] In some embodiments, the first connector is fixedly attached
to at least the first tool support or the second tool support.
[0143] In some embodiments, the first connector is rotatably
attached to at least the first tool support or the second tool
support.
[0144] In some embodiments, the system further comprises a gimbal
which rotatably engages the at least one first or second guide
element at the base.
[0145] In some embodiments, the first connector comprises a first
opening and a second opening each constructed and arranged to
operably engage a tool support of the first and second tool
supports.
[0146] In some embodiments, the first opening and the second
opening are constructed and arranged to position the first tool
support and the second tool support in a non-parallel
configuration.
[0147] In some embodiments, at least one of the first opening or
the second opening comprises a funnel-shaped opening.
[0148] In some embodiments, the first connector further comprises a
third opening constructed and arranged to operably engage a third
tool support.
[0149] In some embodiments, a single operator operates a tool
extending from each of the first, second, and third tool supports
from an operator location.
[0150] In some embodiments, the first connector comprises a rigid
structure.
[0151] In some embodiments, the first connector comprises at least
a portion that is flexible.
[0152] In some embodiments, the first connector comprises an
operator shapeable structure.
[0153] In some embodiments, the first connector comprises a
malleable structure.
[0154] In some embodiments, the first connector comprises a hinged
portion.
[0155] In some embodiments, the first connector is constructed and
arranged to be shaped after at least one of the application of hear
or the removal of heat.
[0156] In some embodiments, the first connector is constructed and
arranged to be attachable to at least one of the first tool support
or the second tool support.
[0157] In some embodiments, the first connector is constructed and
arranged to be detachable to at least one of the first tool support
or the second tool support.
[0158] In some embodiments, the system further comprises a second
connector attachable to the first tool support and the second tool
support, wherein the second connector is constructed and arranged
to maintain a relative position between the first tool support and
the second tool support.
[0159] In some embodiments, the first connector is constructed and
arranged to position the first tool support and the second tool
support in a first geometry, and the second connector is
constructed and arranged to position the first tool support and the
second tool support in a second geometry different than the first
geometry.
[0160] In some embodiments, the first connector differs from the
second connector by at least one of length, shape or curvature.
[0161] In some embodiments, the system further comprises a third
tool support comprising at least one guide element constructed and
arranged to slidingly receive a shaft of a tool.
[0162] In some embodiments, the first connector further maintains a
relative position of the third tool support relative to the first
tool support and the second tool support.
[0163] In some embodiments, the system further comprises a fourth
tool support comprising at least one guide element constructed and
arranged to slidingly receive a shaft of a tool.
[0164] In some embodiments, the system further comprises a second
connector constructed and arranged to maintain a relative position
between the second tool support and the fourth tool support,
wherein the first connector is constructed and arranged to maintain
a relative position between the first tool support and the third
tool support.
[0165] In some embodiments, a single operator operates a tool
extending from each of the first, second, and third tool supports
from an operator location,
[0166] In some embodiments, a first operator operates tools
extending from two of the first, second, and third tool supports,
and a second operator operates a tool extending from the other of
the first, second, and third tool supports.
[0167] In some embodiments, the first connector can be removably
coupled to the first and second tool supports.
[0168] In some embodiments, the first connector is replaced with a
third connector having different dimensions than the first
connector.
[0169] In some embodiments, the inventive concepts comprise an
articulating probe as described in reference to the figures.
[0170] In some embodiments, the inventive concepts comprise a
surgical tool as described in reference to the figures.
[0171] In some embodiments, the inventive concepts comprise a
controller as described in reference to the figures.
[0172] In some embodiments, the inventive concepts comprise a
method of controlling a robotic system as described in reference to
the figures.
[0173] In some embodiments, the inventive concepts comprise a human
interface device as described in reference to the figures.
[0174] In some embodiments, the inventive concepts comprise a
method of performing a medical procedure as described in reference
to the figures.
BRIEF DESCRIPTION OF THE DRAWINGS
[0175] The foregoing and other objects, features and advantages of
embodiments of the present inventive concepts will be apparent from
the more particular description of preferred embodiments, as
illustrated in the accompanying drawings in which like reference
characters refer to the same elements throughout the different
views. The drawings are not necessarily to scale, emphasis instead
being placed upon illustrating the principles of the preferred
embodiments.
[0176] FIG. 1 is a top view of a tool positioning system for
performing a medical procedure, in accordance with embodiments of
the present inventive concepts;
[0177] FIG. 2 is a top view of a tool positioning system for
performing a medical procedure, in accordance with other
embodiments of the present inventive concepts;
[0178] FIG. 3 is a perspective view of a tool positioning system,
in accordance with an embodiment of the present inventive
concepts;
[0179] FIG. 4 is a cross-sectional front view of a tool positioning
system, in accordance with embodiments of the present inventive
concepts;
[0180] FIG. 5 is a perspective view of a tool positioning system
having multiple connectors, in accordance with an embodiment of the
present inventive concepts;
[0181] FIG. 6 is a perspective view of a tool positioning system
having three tools in communication with a connector, in accordance
with an embodiment of the present inventive concepts;
[0182] FIG. 7 is a perspective view of a distal end of a tool
positioning system, in accordance with an embodiment of the present
inventive concepts; and
[0183] FIGS. 8A-8D are perspective views of distal links having
multiple side ports, in accordance with an embodiment of the
present inventive concepts.
DETAILED DESCRIPTION OF EMBODIMENTS
[0184] The terminology used herein is for the purpose of describing
particular embodiments and is not intended to be limiting of the
inventive concepts. As used herein, the singular forms "a," "an"
and "the" are intended to include the plural forms as well, unless
the context clearly indicates otherwise. It will be further
understood that the terms "comprises," "comprising," "includes"
and/or "including," when used herein, specify the presence of
stated features, integers, steps, operations, elements, and/or
components, but do not preclude the presence or addition of one or
more other features, integers, steps, operations, elements,
components, and/or groups thereof.
[0185] It will be understood that, although the terms first,
second, third etc. may be used herein to describe various
limitations, elements, components, regions, layers and/or sections,
these limitations, elements, components, regions, layers and/or
sections should not be limited by these terms. These terms are only
used to distinguish one limitation, element, component, region,
layer or section from another limitation, element, component,
region, layer or section. Thus, a first limitation, element,
component, region, layer or section discussed below could be termed
a second limitation, element, component, region, layer or section
without departing from the teachings of the present
application.
[0186] It will be further understood that when an element is
referred to as being "on" or "connected" or "coupled" to another
element, it can be directly on or above, or connected or coupled
to, the other element or intervening elements can be present. In
contrast, when an element is referred to as being "directly on" or
"directly connected" or "directly coupled" to another element,
there are no intervening elements present. Other words used to
describe the relationship between elements should be interpreted in
a like fashion (e.g., "between" versus "directly between,"
"adjacent" versus "directly adjacent," etc.). When an element is
referred to herein as being "over" another element, it can be over
or under the other element, and either directly coupled to the
other element, or intervening elements may be present, or the
elements may be spaced apart by a void or gap.
[0187] FIG. 1 is a top view of a tool positioning system 100 for
performing a medical procedure, in accordance with embodiments of
the present inventive concepts. The tool positioning system 100 is
constructed and arranged to position one or more tools (not shown
in FIG. 1) for performing a medical procedure on a patient P, for
example, a transoral robotic surgery procedure or the like. The
medical procedure can include a surgical procedure that includes
inserting one or more tools into a cavity of the patient (P), or a
region of the patient (P) formed by an incision or related opening.
A surgical procedure can include one or more transoral procedures.
Typical transoral procedures include resections or other procedures
performed at or near a location selected from the group consisting
of: base of a tongue; tonsils; base of skull; hypopharynx; larynx;
trachea; esophagus; stomach; small intestine; and combinations of
these. Other procedures can include but not be limited to single or
multiport transaxilla procedures, such as a laryngectomy, single or
multiport thoracoscopic procedures, such as a mediastinal nodal
dissection, single or multiport pericardial procedures, for
example, related to measuring and treating arrhythmias, single or
multiport laparoscopic procedures, such as revision of bariatric
lap-band procedures, single or multiport transgastric or
transenteric procedures, such as a cholecystectomy or splenectomy,
and/or single or multiport transanal or transvaginal procedures,
such as a hysterectomy, oophorectomy, cystectomy and colectomy.
[0188] The tool positioning system 100 comprises an introduction
device 250, a first tool support 260a, and a second tool support
260b. Although two tool supports 260a, 260b (generally, 260) are
shown, the tool positioning system 100 can be constructed and
arranged to include more than two tool supports 260. In one
embodiment, as shown in FIG. 5, the tool positioning system 100
includes two, three, or four tool supports 260, each constructed
and arranged to slidingly receive a tool, for example, a shaft of a
tool. In other embodiments, the tool positioning system 100
includes five or more tool supports 260, each constructed and
arranged to slidingly receive a tool.
[0189] As shown in FIG. 4, the introduction device 250 can be
constructed and arranged to slidingly receive an articulating probe
such as the articulating probe 10, and support, stabilize, and/or
guide the articulating probe to a region of interest. The region of
interest may be a lumen of a body of a patient (P), such as a
cavity at the patient's head (H), e.g., a nose or mouth, or an
opening formed by an incision. In clinical applications, typical
regions of interest can include but not be limited to the esophagus
or other locations within the gastrointestinal tract, the
pericardial space, the peritoneal space, and combinations thereof.
The region of interest may alternatively be a mechanical device, a
building, or another open or closed environment in which the probe
10 can be used.
[0190] The articulating probe 10 may be configured to guide one or
more surgical tools, for example, during a medical procedure. The
articulating probe 10 may include inner and outer sleeves, which
can advance or retract with respect to one another during
manipulation of the articulating probe 10. For example, the inner
and outer sleeves of the articulating probe 10, which may include a
plurality of inner links and a plurality of outer links (see FIG.
4), can be configured in one of a limp mode and a rigid mode so as
to facilitate the manipulation of the articulating probe 10. For
example, the inner and outer sleeves may be configured in one of
the limp mode and the rigid mode via one or more steering cables
(not shown) of the articulation probe 10.
[0191] The articulating probe 10 can be a highly articulated probe,
for example, a highly articulated probe as described in U.S. Patent
Application Publication No. 2009-0171151 entitled STEERABLE, FOLLOW
THE LEADER DEVICE, U.S. Patent Publication No. 2008-0039690
entitled STEERABLE MULTI LINKED DEVICE HAVING MULTIPLE WORKING
PORTS, or PCT Application No. PCT/US2011/044811 entitled "SURGICAL
POSITIONING AND SUPPORT SYSTEM, each incorporated by reference in
their entirety herein. The articulating probe 10 may include one or
more light sources, image capturing devices, e.g., a camera,
provided at the distal end of the articulating probe 10 and/or
proximal the distal end of the tool supports 260.
[0192] The articulating probe 10 comprises a feeder 110 which
controllably advances one or more cables within an outer sleeve of
the probe 10, such as a cable (not shown) extending to a distal
link, for example, a distal link 631 shown in FIG. 7. The feeder
110 can comprise one or more cable control assemblies such as
bobbin-driven motors and one or more link translating assemblies
such as linearly advanceable carts.
[0193] Returning to FIG. 1, the first tool support 260a can be
constructed and arranged to slidingly receive a shaft of a tool
(not shown). The first tool support 260a is oriented toward a first
operator location (L1). The second tool support 260b can also be
constructed and arranged to slidingly receive a shaft of a tool
(not shown). The second tool support 260b is oriented toward a
second operator location (L2). The first and second tool supports
260a, 260b can have similar configurations, or different
configurations such as different lengths. First and second tool
supports 260a, 260b can be attached to one or more locations on the
distal end of probe 10. In some embodiments, tool supports 260a,
260b are on opposite sides of the distal end of probe 10. In some
embodiments, tool support 260a is attached to the same side of the
distal end of probe 10 as operator location L1 is positioned (e.g.
the left side of the page as shown), and tool support 260b is
attached to the same side of the distal end of probe 10 as operator
location L2 is positioned, e.g. the right side of the page as
shown. Alternatively, tool support 260a is attached to the opposite
side of the distal end of probe 10 as operator location L1 is
positioned (e.g. the right side of the page), and tool support 260b
is attached to the opposite side of the distal end of probe 10 as
operator location L2 is positioned, e.g. the left side of the page.
One operator can control a first tool at one side of the
introduction device 250 at which extends from a distal end of the
articulating probe 10. Another operator can control a second tool
positioned at another side of the distal end of the articulating
probe 10. In another embodiment, both operators can have tools
positioned at both sides of the introduction device 250 and the
distal end of the articulating probe 10.
[0194] The tool positioning system 100 can include a base 285. The
base 285 can comprise openings for receiving the tool supports 260
and the introducer 250, which can be attached to the base 285 at
their midportions, or at distal ends thereof. The first tool
support 260a and the second tool support 260b are coupled to the
base 285 to maintain a relative position between the first tool
support 260a and the second tool support 260b and/or maintain a
fixed orientation between the first tool support 260a and the
second tool support 260b.
[0195] The base 285 can comprise a collar or the like that
surrounds at least a portion of the introduction device 250. The
collar can extend in a lateral direction relative to a direction of
extension of the introduction device 250. As shown in FIG. 4, the
base 285 can have an opening 287 aligned with a guide element 261
of each tool support 260. The guide element 261 can be affixed to
the opening 287 of the base 285.
[0196] The tool positioning system 100 can include a connector 280,
also referred to as a dogbone connector, coupled to the first tool
support 260a and the second tool support 260b. The connector 280 is
constructed and arranged to maintain a relative position between
the first tool support 260a and the second tool support 260b. In
some embodiments, connector 280 is constructed and arranged to
maintain a relative orientation between the first tool support 260a
and the second tool support 260b.
[0197] The connector 280 can comprise a rigid structure. The
connector 280 can comprise at least a portion that is flexible. The
connector 280 can comprise an operator shapeable structure. The
connector 280 can comprise a malleable structure. The connector 280
can comprise two segments connected by a hinge, such as a butt
hinge, a butterfly hinge, a barrel hinge or a hinge comprising a
flexible portion positioned between two rigid portions. The
connector 280 can comprise a telescopically adjustable structure,
such as to allow separation of tool supports 260a and 260b. The
connector 280 can comprise two segments connected by a rotatable
connector, such as a universal joint.
[0198] The connector 280 can be constructed and arranged to be
shaped, molded, or the like, such as after the application of heat.
The connector 280 can be constructed and arranged to be attachable
to at least one of the first tool support 260a or the second tool
support 260b. The connector 280 can be constructed and arranged to
be detachable to at least one of the first tool support 260a or the
second tool support 260b.
[0199] An alternative connector can be provided, for example,
connector 280'' shown in FIG. 5, that is attachable to the first
tool support 260a and the second tool support 260b. The alternative
connector 280'' can be constructed and arranged to maintain a
relative position between the first tool support 260a and the
second tool support 260b. The original connector 280 can be
constructed and arranged to position the first tool support 260a
and the second tool support 260b in a first geometry, and the
alternative connector 280'' can be constructed and arranged to
position the first tool support 260a and the second tool support
260b in a second geometry different than the first geometry. The
original connector 280 can differ from the alternative connector
280'' by at least one of length, shape or curvature.
[0200] The connector 280 comprises a first opening and a second
opening, each constructed and arranged to operably engage a guide
element of the first and second tool supports 260a, 260b. The first
opening and the second opening can be constructed and arranged to
position the first tool support 260a and the second tool support
260b in a non-parallel configuration. At least one of the first
opening or the second opening can comprise a funnel-shaped opening,
for example, for receiving a guide element 261, more specifically,
a funnel-shaped proximal end 264 of an outer guide element 262 as
shown in FIG. 3.
[0201] The tool positioning system 100 can include at least one
fixation point, 133a-e shown (generally, 133), each constructed and
arranged to attach to a stabilizing brace. A fixation point 133a
can be positioned at the introduction device 250. A fixation point
133b can be positioned at the base 285. A fixation point 133c can
be positioned at the first tool support 260a. A fixation point 133d
can be positioned at the second tool support 260b. A fixation point
133e can be positioned at the connector 280. A brace 132, also
referred to as a support, can be attached to the fixation point
133a. Another end of the brace 132 can be attached to other
locations related to the tool positioning system 100, such as an
operating room floor, the patient operating table (T) and/or an
articulating probe feeder 110. The brace 132 can include a clamping
device and the like for clamping to a floor table or other
supporting object. Multiple braces can be coupled to different
fixation points 133. For example, a brace (not shown) can be
coupled between the fixation point 133b at the base 285 and a
fixation point 133c at the first tool support 260a. Another brace
131 can be attached to the feeder 110 and can be clamped or
otherwise attached to a floor, table or other object providing
stability.
[0202] The system 100 can include a first human interface device
(HID) 80a and a second HID 80b that communicate with a controller
85. As shown in FIG. 1, the first HID 80a can be proximate to or
oriented toward the first operator location (L1) and the second HID
80b can be proximate to or oriented toward the second operator
location (L2). In other embodiments, the first and second HIDs 80a,
80b can be part of a same hardware platform, and can be at a single
or multiple operator location, for example, location (L1), and can
permit an operator at either location L1 or L2 to access the HIDs
80a, 80b at the same location. Some or all of the first HID 80a
and/or the second HID 80b can be integrated into a tool inserted at
a tool support 260. In an embodiment, the system 100 includes a
third HID 80c attached to integral with dogbone connector 280, HID
80c in wired or wireless communication with the controller 85.
[0203] One or more HIDs 80a, b, c (generally, 80) can be
constructed and arranged to manipulate the articulating probe 10,
the tool supports 260, one or more tools inserted into tool
supports 260, or a combination thereof. In system 100 of FIG. 1,
the first HID 80a is oriented toward the first operator location
(L1). The second HID 80b is oriented toward the second operator
location (L2). A first operator, such as a medical professional,
may control the articulating probe 10 via the HID 80a to steer,
advance, retract or otherwise control the functions and movement of
articulating probe 10 via commands sent to the controller 85. A
light source, camera, or other device attached to the articulating
probe may be activated in response to a control signal generated by
the HID 80a. Alternatively or additionally, a second operator may
control the articulating probe 10 via the second HID 80b, to steer,
advance, retract or otherwise control the functions and movement of
the articulating probe 10 via commands sent to the controller 85. A
light source, camera, or other device attached to the articulating
probe may be activated in response to a control signal generated by
the HID 80b. The first HID 80a and/or the second HID 80b may
include a device selected from the group consisting of: a haptic
controller, a joystick, a track ball, a mouse and an
electromechanical device. The articulating probe 10 may be
controlled via an HID 80, and the surgical tools may be controlled
via a tool handle, for example, a tool handle as shown in FIG. 6.
One or more HIDs 80 can communicate with the controller by a
physical connector, such as a conductive wire, or by a wireless
connection, for example, a Bluetooth.TM. connection. An HID 80 can
include switches, joystick, buttons, and the like for applying
forces related to the movement of an articulating probe 10 shown in
FIG. 4. In other embodiments, an HID 80 can include force sensors
such as strain gauges, which can detect forces applied to a dogbone
connector 280, for example, push, pull, and/or twist forces. Such
forces can be applied for controlling the articulating probe 10
shown in FIG. 4, for example, to advance, retract, or steer the
probe 10.
[0204] During a medical procedure, the patient (P) can lie on an
operation table (T), for example, face up as shown in FIG. 1. In an
embodiment, as shown in FIG. 1, the first operator location (L1)
and second operator location (L2) can be side-by-side, or
neighboring each other in a manner that permits two or more
operators to each maneuver one or more tools. The first tool
support 260a and/or the second tool support 260b can be constructed
and arranged to provide tool access to a patient's head (H). For
example, the first tool support 260a can provide tool access to a
patient's esophagus via the patient's mouth. The first tool support
260a and/or the second tool support 260b can be constructed and
arranged to provide tool access to at least one of a patient chest
or a patient abdomen
[0205] FIG. 2 is a top view of a tool positioning system 100 for
performing a medical procedure, in accordance with other
embodiments of the present inventive concepts. Many of the elements
described with respect to FIG. 1 are the same as or similar to
those of FIG. 2, and will therefore not be described again for
brevity.
[0206] In the embodiment of FIG. 2, the first operator location
(L1) and the second operator location (L2) are at face-to-face
locations, for example, at opposite sides of an operating table (T)
so that an operator at the first operator location (L1) and an
operator at the second operator location (L2) can face each other.
The first tool support 260a can extend in a direction towards the
first operator location (L1) at a first side of the table (T) and
the second tool support 260b can extend in a direction towards the
second operator location (L2) at a second side of the table (T)
opposite the first side. The first tool support 260a and/or the
second tool support 260b can be constructed and arranged to provide
tool access to a region of the patient's (P) body, for example, at
least one of a patient chest or a patient abdomen.
[0207] As shown in FIG. 3, the first tool support 260a and the
second tool support 260b can be fixedly coupled to a surface of the
introduction device 250 instead of a base. In an embodiment, the
first tool support 260a and/or the second tool support 260b are
directly coupled to the introduction device 250 by attachment
mechanisms, for example, welding points 286a, 286b, respectively.
Alternatively, other bonding techniques, for example, adhesives and
the like, can be applied. The connection at the introduction device
250 maintains a fixed distance and/or a fixed orientation between
the first tool support 260a and the second tool support 260b. In
some embodiments, the tool supports 260a and 260b can be rotatably
attached to each other and/or a base for maintaining a fixed
distance but not a fixed orientation. The first tool support 260a
and the second tool support 260b can be fixed in position relative
to each other. Accordingly, positions of the first and second tool
supports 260a, 260b are maintained during an operation of the tool
positioning system 100.
[0208] At least one of the first tool support 260a and the second
tool support 260b can include first and second guide elements 261a,
261b, respectively. The first guide element 261a can include an
outer guide element 262a, also referred to as a proximal guide
element, and an inner guide element 263a, also referred to as a
distal guide element. The second guide element 261b can include an
outer guide element 262b and an inner guide element 263b. At least
a portion of the inner guide element 263a, b (generally, 263) is
flexible. The inner guide element 263 can be formed of plastic or
related material. Materials can include but are not limited to
fluoropolymers (e.g., polytetrafluoroethylene), fluorinated
ethylene propylene, polyether block amide, high density
polyethylene, low density polyethylene and/or nickel titanium
alloy. Inner guide element 263 can comprise laser cut tubes (e.g.
polymer or metal tubes) and/or coils or braids of plastic or metal.
In some embodiments, inner guide element 263 comprises a
polytetrafluoroethylene liner. In some embodiments, inner guide
element 263 comprises a stainless steel coil. In some embodiments,
inner guide element 263 comprises a coil covered by a polyether
block amide. In some embodiments, inner guide element 263 comprises
different varying stiffness along its length, such as when
comprising a tube of varying durometers along its length. At least
a portion of the outer guide element 262a, 262b (generally, 262) is
rigid, with limited or no flexibility. As shown in FIG. 3, the
outer guide elements 262a, 262b can be directly anchored to the
introduction device 250 by a weld 286a, 286b, respectively.
[0209] The outer guide elements 262 can include a first tube. The
inner guide elements 263 can include a second tube, a portion of
which can be positioned in, and move relative to, the first tube of
the outer guide element 262. In this manner, the inner guide
element 263 can movably extend from the outer guide element 262,
for example, in a telescoping configuration.
[0210] As shown in FIG. 4, a tool support 260 can rotatably engage
the base 285. A single tool support 260 is shown in FIG. 4, however
any tool support described herein (e.g. first tool support 260a,
second tool support 260b, third tool support 260c, and/or fourth
tool support 260d) can be configured as shown. The tool support 260
can be coupled to the base 285 by a gimbal 630, permitting the tool
support 260 to rotate relative to the base 285, for example,
allowing for three degrees of freedom between tool support 260 and
base 285, which can include two-dimensional (X-Y) movement plus
rotation. The gimbal 630 or other pivoted or ball and joint
mechanism permits the guide element 261 of the tool support 260 to
rotatably or fixedly engage the base 285, for example, at a
mid-portion of the guide element 261. In embodiments where a tool
support 260 is slidably adjustable, thus allowing for a shortening
of a portion of the support 260 that attaches to the dogbone
connector 280, the dogbone connector 280 may require adjustability
of the distance between connector openings. Depending on the
desired relative orientation of one support 260 to the other,
parallel or angled, then the adjustability in the connector 280 for
the distance between openings can occur along a straight or curved
path. Alternatively, the guide element 261 of the tool support 260
can be fixedly attached to a base, for example, at a mid-portion of
the guide element 261. The tool support 260 can be locked in a
fixed position relative to the base 285. The system 100 can include
a locking mechanism 635 to lock the at least one tool support 260
in the fixed position. The locking mechanism may be constructed to
secure a position of the tool supports 260 with respect to the base
285, thus preventing the tool supports 260 from sliding or
otherwise moving axially during movement of the tools by one or
more operators.
[0211] The outer guide element 262 of the guide element 261 of a
tool support 260 can be constructed and arranged to have a hollow
elongate member. The hollow elongate member can be constructed and
arranged as a structure known to those of ordinary skill in the
art, for example, a hollow tube; a coil such as a helical coil, or
combinations thereof. In an embodiment, the entire hollow elongate
member is rigid. In another embodiment, at least a portion of the
hollow elongate member can be rigid. The inner guide element 263
can be likewise constructed and arranged to have a hollow elongate
member. In an embodiment, the entire hollow elongate member can
include a flexible tube. Alternatively, the hollow elongate member
can include at least a flexible portion. The inner guide element
263 can slide along an inner surface in the opening of the outer
guide element 262 in which the inner guide element 263 is
positioned.
[0212] The outer guide element 262 can have a funnel-shaped
proximal end 264. The inner guide element 263 can likewise have a
funnel shaped proximal end 265. Either or both funnels 264, 265 can
be configured to readily and atraumatically introduce tools to the
tool support 260. As shown in FIG. 3, a funnel shaped proximal end
264a, b of each tool support 260a, b, respectively, can be
positioned about an opening in a connector 280.
[0213] The outer guide element 262 and/or inner guide element 263
can be constructed and arranged to guide or otherwise provide a
support for a tool shaft so that it can be guided to a side port
637 coupled to an outer surface of the articulating probe 10.
[0214] The side port 637 can be coupled to a distal link 631 of the
articulating probe 10. The side port 637 can be formed at a flange
at the articulating probe 10. Multiple side ports may be positioned
along the outer sleeve of the articulating probe 10 so as to
provide a guide for one or more guide elements 261 that articulate
in common with the articulating probe 10. Alternatively, the inner
guide element 263 can be fixedly attached to the outer surface of
the articulating probe 10, for example, the distal link 631, such
as with an adhesive or mechanical fastener.
[0215] FIG. 5 is a perspective view of a tool positioning system
100 having multiple connectors 280, 280', in accordance with an
embodiment.
[0216] The tool positioning system 100 can also comprise a first
tool support 260a, a second tool support 260b, a third tool support
260c and a fourth tool support 260d. Each of tool supports 260a-d
can include a funnel-shaped opening, 264a-d respectively, on its
proximal end. The tool supports 260a-d and the introduction device
250 are fixedly attached to base 285. The third tool support 260c
can comprise at least one guide element 261c, which can be similar
to the guide elements 261a and 261b described herein. For example,
the guide element 261c can include an outer guide element 262c and
an inner guide element 263c. The fourth tool support 260d can
comprise at least one guide element 261d, which can be similar to
the guide elements 261a and 261b described herein. For example, the
guide element 261d can include an outer guide element 262d and an
inner guide element 263d.
[0217] The first tool support 260a and the third tool support 260c
can be oriented in a same or similar direction, for example, toward
a first operator location. The second tool support 260b and the
fourth tool support 260d can be oriented in a same or similar
direction, for example, toward a second operator location. Tools
(not shown) extending from the first and third tool supports 260a,
c, respectively, are shown positioned at a first side and a second
side of a distal end of the articulating probe 10, and tools (not
shown) extending from the second and fourth tool supports 260b, d,
respectively, are shown positioned at the first side and the second
side of the distal end of the articulating probe 10, where the
first side is opposite the second side. In an alternative
embodiment, not shown, tools extending from the first and third
tool supports 260a, c, respectively, can be positioned at a first
side of a distal end of the articulating probe 10, and tools
extending from the second and fourth tool supports 260b, d,
respectively, can be positioned at a second side of the distal end
of the articulating probe 10.
[0218] The outer guide element 262a of the first tool support 260a
and the outer guide element 262c of the third tool support 260c can
be oriented in a same or similar direction, for example, toward a
first operator location. The outer guide element 262b of the second
tool support 260b and the outer guide element 262d of the fourth
tool support 260d can be oriented in a same or similar direction,
for example, toward a first operator location. However, the first
and second inner guide elements 263a, b can be collocated, and the
third and fourth inner guide elements 263c, d can be
collocated.
[0219] The tool positioning system 100 can comprise a connector 280
attached to proximal ends of the first tool support 260a and the
third tool support 260c. The connector 280 is constructed and
arranged to maintain a relative position between the first tool
support 260a and the third tool support 260c. The tool positioning
system 100 can also comprise a second connector 280' attached to
proximal ends of the second tool support 260b and the fourth tool
support 260d. The connector 280' is constructed and arranged to
maintain a relative position between the second tool support 260b
and fourth tool support 260d. In another embodiment, the first
connector 280 can be attached to proximal ends of the first tool
support 260a and the second tool support 260b, and the second
connector 280' can be attached proximal ends of the third tool
support 260c and the fourth tool support 260d.
[0220] The connector 280, also referred to as a first connector or
first dogbone connector, and/or the connector 280', also referred
to as a second connector or second dogbone connector, can be
removed from the tool supports 260 and replaced with a different
connector 280'', which can have different configuration parameters
than the connectors 280, 280', for example, a different length or
openings for receiving a funnel shaped guide element 261.
[0221] FIG. 6 is a perspective view of a tool positioning system
100 having three tools 201, 202, 203 in communication with a
connector 280, in accordance with an embodiment. A single operator
can operate tool positioning system 100, including any or all three
tools 201, 202, 203. Alternatively, two or more operators can
operate tool positioning system 100 of FIG. 6, including any or all
three tools 201, 202, 203.
[0222] Three tool supports 260a, 260c, 260e extend between a base
285 and a connector 280. Each of tool supports 260a, 260c and 260e
can include a funnel-shaped opening, 264a, 264c and 264e
respectively, on their proximal end. The base 285 includes a collar
having first, second, and third openings aligned with the first,
second, and third tool supports 260a, 260c, 260e, respectively. The
guide elements 261a, 261c, 261e (generally, 261) of the first,
second, third and tool supports 260a, 260c, 260e, respectively, can
extend through the first, second, and third openings so that
mid-portions of the guide elements 261 are positioned in the
openings during operation. The base 285 can include a fourth
opening for receiving an introduction device 250.
[0223] At least one tool 201, 202, 203 can have a shaft, shown
inserted into tool supports 260a, 260c and 260e, respectively,
constructed and arranged to be slidingly received by a
corresponding tool support 260. One or more tools 201, 202, 203 can
be selected from the group consisting of: suction device;
ventilator; light; camera; grasper; laser; cautery; clip applier;
scissors; needle; needle driver; scalpel; RF energy delivery
device; cryogenic energy delivery device; and combinations thereof.
A tool 201, 202, 203 can include a rigid and/or a flexible tool
shaft.
[0224] The connector 280 is attached to first, second, and third
tool supports 260a, 260c, 260e and can be constructed and arranged
to maintain a relative distance between the tool supports 260a,
260c, 260e. The connector 280 can be fixedly attached to one or
more of the tool supports 260. Alternatively, the connector 280 can
be rotatably attached to one or more of the tool supports 260. The
connector 280 maintains a relative position of the third tool
support 260e relative to the first tool support 260a and the second
tool support 260c.
[0225] The base 285 can be fixedly attached to one or more of the
tool supports 260. Alternatively, the base 285 can be rotatably
attached to one or more of the tool supports 260. A gimbal (see
FIG. 4) can be at the base 285 which rotatably engages one or more
guide elements 261 at the base 285.
[0226] A single operator can operate one or more of: the tool 201
extending from the first tool support 260a, the tool 202 extending
from the second tool support 260c, and/or the tool 203 extending
from the third tool support 260e, for example, from a single
operator location. Alternatively, one operator can operate two
tools of the tools 201, 202, 203, and another operator can operate
the remaining tool of the tools 201, 202, 203.
[0227] As shown in FIG. 7, a first tool 201 is positioned at a
first side of a distal end of the articulating probe 10, i.e., the
left side of the page as shown, and a second tool 202 is positioned
at a second side of the distal end of the articulating probe 10,
i.e., the right side of the page as shown, opposite the first side.
A third tool 203 can optionally be positioned between the first and
second tools 201, 202 at the distal end of the probe 10. First tool
201 has been inserted through a first tool support including inner
guide element 263a. Inner guide element 263a passes through base
285, such as via a gimbal not shown but positioned behind probe 10.
Second tool 202 has been inserted through a second tool support
including inner guide element 263c. Inner guide element 263c passes
through base 285 via gimbal 630c. Third tool 203 has been inserted
through a third tool support including inner guide element 263e.
Inner guide element 263e passes through base 285 via gimbal 630e.
The first tool 201 can be controlled by an operator at the
corresponding side of the articulating probe 10, i.e., the first
side or left side of the page as shown. Alternatively, the first
tool 201 can be controlled by an operator on the opposite side of
the articulating probe 10, i.e., the second side or right side of
the page as shown. The second tool 202 can be controlled by an
operator at the corresponding side of the articulating probe 10,
i.e., the second side or right side of the page as shown.
Alternatively, the second tool 202 can be controlled by an operator
on the opposite side of the articulating probe 10, i.e., the first
side or left side of the page as shown. The operator at the first
and second sides can be the same operator, or different operators
at different locations, for example, side-by-side as shown in FIG.
1 or face-to-face as shown in FIG. 2.
[0228] As described above, the articulating probe 10 comprises a
distal link 631, which can be positioned about an articulating
probe 10. As shown in FIGS. 7 and 8A-D, the distal link 631
comprises at least three side ports 637. In FIG. 8B, the distal
link 631'' can include three side ports 637 that can be coupled to
three tool supports, for example, tool supports 260a, c, e,
respectively, shown in FIG. 6 and FIG. 7.
[0229] In another embodiment, as shown in FIG. 8C, a distal link
631''' comprises four side ports 637, which can be coupled to four
tool supports, for example, tool supports 260a-d, respectively,
shown in FIG. 5.
[0230] In another embodiment, as shown in FIG. 8A, a distal link
631' comprises five side ports 637, which can be coupled to five
tool supports, for example, two tool supports oriented toward one
operator location, and three tool supports oriented toward another
operator location.
[0231] In an embodiment, as shown in FIG. 8B, the sideports 637 are
symmetrically spaced about a periphery of the distal link 631''. In
an embodiment, as shown in FIG. 8D, the sideports 637 are
asymmetrically spaced about a periphery of the distal link
631''''.
[0232] The side ports 637 can be positioned 30.degree. to
180.degree. apart from each other about a periphery of the
connector 280. For example, as shown in FIG. 8D, first and second
side ports 637 can be less than 180.degree. apart from each other,
such as 150.degree. apart, and a third side port 637 can be
positioned between the first and second side ports, such that the
third side port 637 is less than 90.degree. apart from each of the
first and second side ports 637. The side ports 637 can be attached
to one or more tool supports 260 oriented toward an operator
location on a similar or dissimilar side as the side port 637.
[0233] While the present inventive concepts have been particularly
shown and described above with reference to exemplary embodiments
thereof, it will be understood by those of ordinary skill in the
art, that various changes in form and detail can be made without
departing from the spirit and scope of the present inventive
concepts described and defined by the following claims.
* * * * *